Trajectory planning and four-leg coordination for stair climbing in a quadruped robot

We report on the algorithm of trajectory planning and four leg coordination for quasi-static stair climbing in a quadruped robot. The development is based on the geometrical interactions between the robot legs and the stair, starting from single-leg analysis, followed by two-leg collaboration, and t...

Ausführliche Beschreibung

Bibliographische Detailangaben

Hauptverfasser:	Chih-Chung Ko, Shen-Chiang Chen, Cheng-Hsin Li, Pei-Chun Lin
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Hip Joints Leg Legged locomotion Robot kinematics Timing
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